Here's how Tesla's cars have changed over the years

CEO Elon Musk revealed details for its software Version 8.0, saying that it will bring significant improvements to Autopilot. In fact, Musk said that it will make Tesla cars three times safer than vehicles without Autopilot.

We decided to take a look back at just how far Tesla cars have progressed, and within just the last year there's been a lot of change. Scroll down for a closer look.

In late 2014, Tesla released two dual motor all-wheel drive configurations for the Model S, the world's first dual electric motor car.

Wikimedia/Martino Castelli

It was also the first time Tesla made autopilot standard on every car. The car came in three versions — the 60D, 85D and the top-of-the-line P85D. Above you see the P85D.

The P85D could reach a top speed of 155 mph and could accelerate to 60 mph in 3.2 seconds, outperforming the McLaren F1 supercar, Tesla wrote on its blog at the time.

The P85D had a range of about 285 miles and cost $71,200 MSRP, according to Car and Driver. But that model was discontinued in February.

Tesla offered three new versions of the Model S in early 2015, the 70D, 90D, and P90D. The P90D is worth paying attention to because of its coveted Ludicrous mode.

Tesla

The P90D can go from 0 to 60 mph in just 2.8 seconds while driving in Ludicrous mode. When it first came out, people went bananas for the new feature. It also has a range of 253 miles and can reach a top speed of 155 mph.

The Model S starts at around $66,000.

Tesla introduced its Model X with its stylish falcon wings to the world in September 2015.

Tesla Motors

Like the Model S, the Model X comes in three different versions starting at $74,000. The highest performance version at the time of its release was the P90D. It came with a range of 250 miles and can reach 60 mph in 3.2 seconds in ludicrous mode and has a top speed of 155 mph.

And in January, Tesla rolled out its 7.1 software update — giving the Model S and Model X several cool new semi-autonomous features.

The software update offers safety features like automatic braking, lane switching, and blind spot warnings. The cars can also autosteer without a center divider, self-parallel park, and manage speed using traffic aware cruise control.

Perhaps the coolest feature of the new update was giving drivers the power to summon their cars at the click of a button — it's like a personal, robotic valet. At the time of its release, the Autopilot package cost an extra $2,500.

Tesla unveiled its consumer sedan, the Model 3, in March — and it got almost 400,000 pre-orders.

YouTube/Motor Trend

The Model 3 will start at $35,000 without federal tax exemptions, making it a huge competitor in the EV market. It can accelerate from 0 to 60 mph in under 6 seconds and will boast a range of 215 miles.

Tesla CEO Elon Musk has said that these are baseline specs Tesla hopes to exceed by the time it arrives in late 2017 or early 2018. There have been around 400,000 pre-orders for the Model 3.

The Model S and Model X recently got a major battery upgrade to extend their ranges.

Tesla

Musk announced a new 100-kilowatt-hour battery upgrade for the Model S and Model X cars that have Ludicrous modes in August.

The new battery option extends the range of the Model S to 315 miles per charge, making it the first electric car on the market to exceed 300 miles of range. The new battery option also extends the range of the Model X with Ludicrous mode to 289 miles.

The upgrade also enables the Model S P100D Ludicrous to accelerate from 0 to 60 mph in just 2.5 seconds, making it the world's third-fastest production car. The larger battery pack also makes the Model X the world's quickest SUV with the ability to accelerate to 60 mph in 2.9 seconds.

But the upgrade isn't cheap — those who already own the car can upgrade for $20,000. If you don't own it yet, it will tack an extra $10,000 on the price.

Autopilot is also getting a major upgrade in the next week or two.

Tesla

Musk revealed details about Tesla Version 8.0 on Sunday. The software update makes more use of the radar sensors on the cars, allowing them to play a greater role in determining whether an object is a danger.